CN111912397B - System and method for measuring plane and line segment direction by means of cylindrical cavity liquid section - Google Patents

Abstract

The invention relates to the field of measurement, in particular to a system and a method for measuring plane and line segment direction by means of a liquid section of a cylindrical cavity, wherein the system comprises a liquid container, a liquid regulator, a signal collector, a controller, an electronic module box body and a direct-current power supply; for injecting or sucking large-diameter cylindrical cavitiesA liquid, to adjust its amount, to select a best result from a plurality of fitting planes at different levels as a best approximation of the horizontal plane; the signal collector collects voltage information of the large-caliber cylindrical cavity end surface signal electrode array, coordinates of an intersection point of the liquid level and the large-caliber cylindrical cavity can be calculated based on the voltage information, and an axial section P of the large-caliber cylindrical cavity parallel to a measured plane can be calculated through the coordinates₂The normal line direction measurement value of the measured plane in the local coordinate system and the direction measurement value of the measured line segment in the local coordinate system are calculated. The invention realizes accurate measurement of plane and line segment directions and has strong functionality.

Description

System and method for measuring plane and line segment direction by means of cylindrical cavity liquid section

Technical Field

The invention relates to the field of measurement, in particular to a system and a method for measuring the plane and line segment directions by means of a liquid section of a cylindrical cavity.

Background

With the continuous development of production and science, direction measurement is more and more widely applied to the precise construction of machines, bridges and other buildings; the existing direction measuring device has the problems of high cost, measurement labor waste and single function.

Disclosure of Invention

The invention aims to provide a system and a method for measuring the plane and line segment directions by means of a liquid section of a cylindrical cavity, which realize automatic measurement of the plane and line segment directions and have strong functionality so as to better serve engineering project construction.

In order to solve the technical problems, the invention provides a system for measuring the plane direction by means of the liquid section of a cylindrical cavity, which comprises a liquid container, a liquid regulator, a signal collector, a controller, a direct-current power supply, an electronic module box body and a fastener, wherein the liquid container is arranged in the liquid regulator;

the liquid container comprises a large-caliber cylindrical cavity, the side surface of the large-caliber cylindrical cavity is smooth and completely transparent and is carved with a bus marking, the inner side of the circumference of the end surface is also provided with 4 water injection vent valves for replenishing or replacing electrolyte and maintaining the balance of internal and external air pressure when adjusting the liquid level, saturated electrolyte is filled in the large-caliber cylindrical cavity, a compass floats on the saturated electrolyte level, the compass surface is carved with a brilliant rays-shaped marking, and the left end surface and the right end surface of the large-caliber cylindrical cavity are respectively connected with a liquid regulator; the liquid adjusting device is divided into a left liquid adjusting device and a right liquid adjusting device and is used for injecting or sucking liquid into the liquid container to adjust the liquid amount; each liquid transfer device comprises a small-caliber cylindrical cavity, a piston, a screw rod, a nut, a direct current motor, a driving wheel and a driving belt, wherein one end face of the small-caliber cylindrical cavity is connected to the end face of the large-caliber cylindrical cavity, so that the large-caliber cylindrical cavity and the small-caliber cylindrical cavity are coaxial; a piston is arranged in the small-diameter cylindrical cavity, one end, far away from the large-diameter cylindrical cavity, of the piston is connected with a screw rod, the screw rod penetrates through a nut after extending out of the small-diameter cylindrical cavity and then penetrates through a metal grounding ring, the grounding ring is connected with a common ground, the nut is tightly attached to the end face of the small-diameter cylindrical cavity, and the internal thread of the nut is matched with the external thread of the screw rod so that the rotation energy of the nut drives the screw rod to do linear motion, and the push-pull piston does reciprocating motion in the small-diameter cylindrical cavity; the driving belt connects the nut with the driving wheel, and the DC motor bearing passes through the center of the driving wheel and is coaxial with the driving wheel so as to drive the nut to rotate; the direct current motor is controlled by a command sent by the controller; the signal collectors are divided into a left end surface and a right end surface and are respectively arranged on the left end surface and the right end surface of the large-caliber cylindrical cavity, each signal collector comprises K collecting channels, each collecting channel comprises a signal electrode, a pull-up resistor and a connecting wire, the signal electrode is led to one end of the pull-up resistor through the connecting wire, and the other end of the pull-up resistor is connected with a direct-current power supply; the signal electrodes are uniformly distributed on the inner side of the circumferential boundary of each end surface of the large-caliber cylindrical cavity to form a signal electrode array; if the saturated electrolyte does not contact a certain signal electrode, the potential of a data interface bit connected with the signal electrode is pulled high, and at the moment, the input data of the data acquisition channel is equal to 1 for a single chip computer and an interface module in the controller; if the saturated electrolyte contacts a certain signal electrode, the input data of the position acquisition channel is equal to 0; the controller is used for controlling the liquid regulator to regulate the liquid level, collecting voltage information of the signal electrode array in the signal collector under different liquid levels, and outputting a direction measurement value of the measured plane in a local coordinate system to a user after calculation and processing; the direct current power supply is used for supplying power to the system; the electronic module box body is used for loading the controller, the direct-current power supply and the direct-current motor; the direct current motor is arranged on the upper surface of the electronic module box body, and the lower surface of the electronic module box body is flat and smooth and is used for tightly adhering to a target plane when the direction of the target plane is measured; the fastener is used for fixing the liquid container, including locating the fixed plug-in components of heavy-calibre cylinder chamber lateral wall, locating the fixed slot and 4 springs of electronic module box upper surface, when the fastener uses earlier inserts the fixed plug-in components of heavy-calibre cylinder chamber lateral wall into the fixed slot, then fixes in the four corners of the upper surface of electronic module box with 4 springs terminal surface circumference.

Preferably, the signal electrodes are uniformly distributed on the inner side of the circumferential boundary of each end face of the large-caliber cylindrical cavity and close to the boundary, and the shape of the signal electrodes is spherical to increase the contact surface; the signal electrode volume is as small as possible to increase the coordinate measurement accuracy.

According to the scheme, the controller comprises a single chip microcomputer, an interface module, a keyboard, an LCD (liquid crystal display), a loudspeaker, a communication module, an antenna and an LED screen; the single chip microcomputer and the interface module are used for system control and data processing, the keyboard, the LCD display and the loudspeaker are used for a user to input related data parameters or report a calculation result and play prompt information to the user, the communication module and the antenna can realize wireless interconnection with a mobile phone of the user, so that the user can input the related data parameters through the mobile phone, and a screen of the mobile phone of the user can synchronously display the related information with the LCD display; the LED screen is used for indicating the position of an effective force application fulcrum of a tool such as a jack and the like to a user when the measured plane is horizontally corrected; the single chip microcomputer and the interface module are arranged in the electronic module box body, the LED screen is laid in the middle of the upper surface of the electronic module box body, and the keyboard, the LCD display, the loudspeaker and the antenna are arranged on the edge of the upper surface of the electronic module box body.

The invention provides a method for measuring plane direction by means of a liquid section of a cylindrical cavity, which adopts the system for measuring plane direction by means of the liquid section of the cylindrical cavity, and the method comprises the following steps: the lower surface of the electronic module box body is tightly attached to a measured plane, and the electronic module box body is rotated to enable the compass pointer to be parallel to the large-caliber cylindrical cavity bus marking line; the controller sends a starting liquid pumping instruction to the direct current motor for multiple times, voltage information of the left end surface signal electrode array and the right end surface signal electrode array of the large-diameter cylindrical cavity is collected after liquid pumping is carried out each time, coordinates of the intersection point of the current liquid level and the large-diameter cylindrical cavity are calculated based on the voltage information, and a plane fitting function is called through the intersection point coordinates to obtain a liquid level fitting plane P₁Calculating the intersection point and P₁The sum of the squares of the distances Err, and P₁When the liquid is reduced to half of the full capacity, the controller sends a liquid-pumping stopping instruction to the direct current motor, and only the P corresponding to the minimum one in the stored series Err is stored₁The parameter s is retained, and the calculation is based on the parameter sThe circle center of the left end surface of the radial cylindrical cavity is an origin O, the connecting line of the O and the No. 0 signal electrode on the end surface contact is an X axis, and the central axis of the large-diameter cylindrical cavity is a Z axis in an X-Y-Z coordinate system (the whole text is called as the X-Y-Z coordinate system for short) in which the best fit plane P of the horizontal plane is in a plane P₁Normal vector n of₁Axial section P₂Normal vector n of₂、n₁At P₂Projection vector n of_pAnd P₂Upper and n_pOrthogonal vector γ, according to n₁And n₂Calculating n₂To n₁After rotating around the Y-Z coordinate system by a proper angle theta, the rotation angle theta of (A) is formed by P₁The straight line of the line segment intersected with the left end face of the large-caliber cylindrical cavity is a Y ' axis, the midpoint of the intersected line segment is an original point O ', the Z ' axis points to an X ' Y ' Z ' coordinate system (the whole text is called as an X ' Y ' Z ' coordinate system for short) of the due north, a matrix T used for converting the X ' Y ' Z coordinate system into the X ' Y ' Z ' coordinate system is assigned, then based on the conversion matrix T, the direction measurement value of the measured plane in the X ' Y ' Z ' coordinate system is calculated, and the direction measurement value is displayed and broadcasted to a user through an LCD display, a loudspeaker and a communication module.

According to the scheme, the method for measuring the plane direction by means of the liquid section of the cylindrical cavity further comprises the following steps: acquiring a target result of correcting the position of the force application fulcrum for implementing horizontal correction: color display and n for LED screen laid on upper surface of electronic module box_pA parallel line segment and indicates the user to place another first jack force application point on the measured plane and n_pOn parallel straight lines; and displaying a line segment parallel to the gamma by using another color, and indicating a user to place the force application points of the second jack and the third jack which are additionally arranged on a straight line parallel to the gamma on the measured plane and symmetrical to the position of the force application point of the first jack.

The invention provides a system for measuring a line segment direction by means of a liquid section of a cylindrical cavity, which comprises a liquid container, a liquid adjusting device, a signal collector, a controller, a direct-current power supply, an electronic module box body, a fastener and a pull ring, wherein the liquid container is arranged in the cylindrical cavity; the liquid container comprises a large-caliber cylindrical cavity, the side surface of the large-caliber cylindrical cavity is smooth and completely transparent and is carved with a bus marking, the inner side of the circumference of the end surface is also provided with 4 water injection vent valves for replenishing or replacing electrolyte and maintaining the balance of internal and external air pressure when adjusting the liquid level, saturated electrolyte is filled in the large-caliber cylindrical cavity, a compass floats on the saturated electrolyte level, the compass surface is carved with a brilliant rays-shaped marking, and the left end surface and the right end surface of the large-caliber cylindrical cavity are respectively connected with a liquid regulator; the liquid adjusting device is divided into a left liquid adjusting device and a right liquid adjusting device and is used for injecting or sucking liquid into the liquid container to adjust the liquid amount; each liquid transfer device comprises a small-caliber cylindrical cavity, a piston, a screw rod, a nut, a direct current motor, a driving wheel and a driving belt, wherein one end face of the small-caliber cylindrical cavity is connected to the end face of the large-caliber cylindrical cavity, so that the large-caliber cylindrical cavity and the small-caliber cylindrical cavity are coaxial; a piston is arranged in the small-diameter cylindrical cavity, one end, far away from the large-diameter cylindrical cavity, of the piston is connected with a screw rod, the screw rod penetrates through a nut after extending out of the small-diameter cylindrical cavity and then penetrates through a metal grounding ring, the grounding ring is connected with a common ground, the nut is tightly attached to the end face of the small-diameter cylindrical cavity, and the internal thread of the nut is matched with the external thread of the screw rod so that the rotation energy of the nut drives the screw rod to do linear motion, and the push-pull piston does reciprocating motion in the small-diameter cylindrical cavity; the driving belt connects the nut with the driving wheel, and the DC motor bearing passes through the center of the driving wheel and is coaxial with the driving wheel so as to drive the nut to rotate; the direct current motor is controlled by a command sent by the controller; the signal collectors are divided into a left end surface and a right end surface and are respectively arranged on the left end surface and the right end surface of the large-caliber cylindrical cavity, each signal collector comprises K collecting channels, each collecting channel comprises a signal electrode, a pull-up resistor and a connecting wire, the signal electrode is led to one end of the pull-up resistor through the connecting wire, and the other end of the pull-up resistor is connected with a direct-current power supply; the signal electrodes are uniformly distributed on the inner side of the circumferential boundary of each end surface of the large-caliber cylindrical cavity to form a signal electrode array; if the saturated electrolyte does not contact a certain signal electrode, the potential of a data interface bit connected with the signal electrode is pulled high, and at the moment, the input data of the data acquisition channel is equal to 1 for a single chip computer and an interface module in the controller; if the saturated electrolyte contacts a certain signal electrode, the input data of the position acquisition channel is equal to 0; the controller is used for controlling the liquid regulator to regulate the liquid level, collecting voltage information of a signal electrode array in the signal collector under different liquid levels, and outputting a direction measurement value of a measured line segment in a local coordinate system to a user after calculation and processing; the direct current power supply is used for supplying power to the system; the electronic module box body is used for loading the controller, the direct-current power supply and the direct-current motor; the direct current motor is arranged on the upper surface of the electronic module box body, and the lower surface of the electronic module box body is flat and smooth and is used for tightly adhering to a target plane when the direction of the target plane is measured; the fastener is used for fixing the liquid container and comprises a fixed plug-in unit arranged on the side wall of the large-caliber cylindrical cavity, a fixed groove arranged on the upper surface of the electronic module box body and 4 springs, when the fastener is used, the fixed plug-in unit on the side wall of the large-caliber cylindrical cavity is inserted into the fixed groove, and then the circumference of the end surface is fixed to four corners of the upper surface of the electronic module box body by the 4 springs; the pull ring is divided into a left pull ring and a right pull ring which are respectively connected with one end of the left liquid adjusting device and one end of the right liquid adjusting device far away from the liquid container.

According to the scheme, the system also comprises hanging rings which are distributed on the periphery of the outer wall of the cylindrical cavity and used for hanging a pendant to enable the large-diameter cylindrical cavity to rotate around the shaft; k hanging rings for hanging a pendant are arranged on the outer wall of the large-diameter cylindrical cavity in the circumferential direction, and each hanging ring is located at the midpoint of the bus marking; the weight of the falling object is greater than the sum of the weights of all objects except the large-diameter cylindrical cavity and the objects contained in the large-diameter cylindrical cavity.

The invention provides a method for measuring line segment direction by means of a liquid section of a cylindrical cavity, which adopts the system for measuring line segment direction by means of the liquid section of the cylindrical cavity, and the method comprises the following steps: the left pull ring and the right pull ring are connected to two points to be measured through an additional rope; the controller sends a starting liquid pumping instruction to the motor for multiple times, acquires voltage information of the left and right end surface signal electrode arrays of the large-diameter cylindrical cavity after liquid pumping each time, calculates coordinates of an intersection point of the current liquid level and the large-diameter cylindrical cavity based on the voltage information, and calls a plane fitting function plan fitting through the intersection point coordinates to acquire a liquid level fitting plane P₁Is equal to [ u, v, w ═]^TCalculating the above intersection point and P₁The controller sends a liquid pumping stopping command to the motor when the liquid is reduced to half of the full capacity, only s corresponding to the minimum of the stored series Err is reserved, and a plane P best fit to the horizontal plane in the X Y Z coordinate system of the axial section of the large-caliber cylindrical cavity is calculated based on the parameters₁Normal vector n of₁Axial section P₂Normal vector n of₂、n₁At P₂Projection vector n of_pAnd P₂Upper and n_pOrthogonal vector γ, according to n₁And n₂Calculating n₂To n₁The rotation angle theta is evaluated on a conversion matrix T used by a local X-Y-Z coordinate system (which is called as the X-Y-Z coordinate system for short in the whole text) which is formed by rotating the X-Y-Z coordinate system around the gamma by the angle theta and the Z axis is not always directed to the north, and two points P in the measured space are evaluated₁P₂The vector of the connecting line is consistent with the Z-axis direction in the X-Y-Z coordinate system, and two points P in the space to be measured are based on the transformation matrix T₁P₂The vector OZ of the connecting line in the X Y Z coordinate system is converted into an expression OZ of the X 'Y' Z coordinate system_X”Y”Z”Then rotating the X ' Y ' Z ' coordinate system by an angle around the O ' X ' right hand

Wherein

Representing the deflection angle of the horizontal projection of the axis of the large cylindrical cavity which deviates from the north counterclockwise, indicated by a compass, obtaining an X ' Y ' Z ' coordinate system, and calculating a measured point P₁And P₂The value of the direction measure OZ of the line in the X ' Y ' Z ' coordinate system_X’Y’Z’And displayed and broadcast to the user.

According to the scheme, the method for measuring the line segment direction by means of the liquid section of the cylindrical cavity further comprises the following steps: k hanging rings for hanging a pendant are arranged on the outer wall of the large-diameter cylindrical cavity in the circumferential direction, and each hanging ring is located at the midpoint of the bus marking; the weight of the falling object is greater than the sum of the weights of all objects except the large-diameter cylindrical cavity and the objects contained in the large-diameter cylindrical cavity; and hanging a pendant on the 0 th hanging ring of the large-diameter cylindrical cavity through a hanging wire, carrying out measurement for one time, then, releasing the hanging wire from the hook, rotating the large-diameter cylindrical cavity around a shaft, hanging the pendant on the hanging ring with the next serial number, carrying out measurement for the next time, repeating the measurement until the serial number of the hanging ring traverses to reduce the measurement error, and finally, taking the arithmetic mean value of all measurement results to serve as the measurement result of the line segment direction or the included angle reported to a user.

The invention has the following beneficial effects:

the invention relates to a method for measuring the direction of a plane-shaped building component and a line-segment-shaped building component, and provides a method for measuring the direction of a certain plane in a local coordinate system, which measures the inclination of the measured plane relative to an arbitrary plane (not limited to a horizontal plane) through the normal vector value of the measured plane; the principle of the method is that the projection component of the normal vector of the horizontal plane on the measured plane and the orthogonal vector of the projection vector on the measured plane are obtained, and the orthogonal vector is used as the rotating shaft of the inclined plane to correct the inclined plane to be horizontal most quickly. If the user needs to correct the measured plane to be horizontal, the user is prompted to place the fulcrum of a tool such as a jack on a straight line parallel to the projection vector and the orthogonal vector on the measured plane, and the maximum correction efficiency can be obtained through the operation; the following advantages of the invention make up for the relevant defects of the prior common level: accurately reporting the inclination magnitude of the measured plane, namely the value of the normal vector of the measured plane in a local coordinate system; when horizontal correction is applied to the inclined plane, the position of a reasonable force application fulcrum can be accurately prompted to a user;

the invention provides a method for measuring the direction of a connecting line of any two points in a local coordinate system, and the included angle between any measured line segments can be measured by measuring the vector value of the line segments;

the invention provides a method for unifying a coordinate system constructed based on a detected target object in a local coordinate system, which is beneficial to the cooperative construction of various components of complex buildings such as bridges and the like; the invention not only covers the functions of the gradienter, but also expands the functions of the gradienter, and the gradienter only outputs a qualitative result, but the invention can output a quantitative result;

the method can be applied to measuring the direction of the used member when the construction of the bridge and other buildings is carried out, and can also be applied to obtaining more practical input parameters when the performance parameters of the bridge, the anti-seismic structure, the service life and the like are predicted and evaluated based on computer simulation after the construction is finished.

Drawings

FIG. 1 is a schematic block diagram of an overall structure according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an overall structure according to an embodiment of the present invention;

FIG. 3 is a side view of the lower liquid level end of a medium and large diameter cylindrical chamber according to an embodiment;

FIG. 4 is a side view of the high liquid level end of a medium and large diameter cylindrical chamber according to an embodiment;

FIG. 5 is a top view of a large-diameter cylindrical cavity facing the normal direction of the liquid level when the normal direction of the inclined plane is measured according to the first embodiment;

FIG. 6 is a side view of the signal electrode distribution at the end face of a middle-or large-caliber cylindrical cavity according to an embodiment;

FIG. 7 is a circuit diagram of the kth acquisition channel of the signal acquisition unit in the first embodiment;

FIG. 8 is a flowchart illustrating an algorithm for calculating a normal vector value and an angle between two planes of a local coordinate system of a plane to be measured according to an embodiment;

FIG. 9 is a schematic diagram of a jack J for horizontal correction based on a normal vector according to a second embodiment of the present invention₁、J₂And J₃A position layout diagram;

FIG. 10 is a schematic diagram illustrating an operation method for measuring vector values of two arbitrary points in space according to a third embodiment of the present invention;

FIG. 11 is a top view of the large-diameter cylindrical cavity facing the normal direction of the liquid level when the connecting line between the two points is measured in the third embodiment;

FIG. 12 is a flowchart of steps 1-17 of a line vector value and a two-line angle algorithm of the local coordinate system of two points to be measured in the third embodiment;

FIG. 13 is a flowchart of steps 18-22 of the line vector value and the two-line angle algorithm of the local coordinate system of the two points to be measured in the third embodiment;

fig. 14 is a flowchart of steps 18-24 in the line vector value and two-line angle algorithm of the local coordinate system of the two points to be measured in the fourth embodiment.

Reference numerals: 1. a liquid container; 101. a large-caliber cylindrical cavity; 102. a compass; 103. liquid injection and ventilation valve; 104. fixing the plug-in; 2. a liquid mixing device; 201. a small bore cylindrical cavity; 202. a piston; 203. a screw; 204. a nut; 205. a direct current motor; 206. a drive wheel; 207. a drive belt; 3. a signal collector; 4. a controller; 401. a single chip microcomputer and an interface module; 402. a keyboard; 403. LCD display, 404, speaker, 405, communication module, 406, antenna, 407, LED screen; 5.a direct current power supply; 6. an electronic module case; 601, fixing a groove; 602. a spring.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

The first embodiment is as follows:

referring to fig. 1 to 7, the present invention is a system for measuring a plane direction by a liquid section of a cylindrical cavity, which includes a liquid container 1, a liquid regulator 2, a signal collector 3, a controller 4, a dc power supply 5, an electronic module box 6 and an attached fastener.

The liquid container 1 is used for containing saturated electrolyte with adjustable liquid level and comprises a large-diameter cylindrical cavity 101, the liquid container is made of toughened glass, the side surface of the liquid container is smooth and completely transparent and is carved with a bus marking, 4 water injection vent valves 103 are further arranged on the inner side of the circumference of the end surface of the liquid container and are used for supplementing or replacing the electrolyte, the balance of internal and external air pressure is maintained when the liquid level is adjusted, the saturated electrolyte is filled in the large-diameter cylindrical cavity 101, a compass 102 with a pointer floats on the saturated electrolyte level, a light-ray-shaped marking is carved on the surface of the compass 102, the left end surface and the right end surface of the large-diameter cylindrical cavity 101 are respectively shown in figures 3 and 4, and the two end surfaces are respectively connected with a liquid adjusting device 2.

A liquid adjusting device 2 divided into a left liquid adjusting device and a right liquid adjusting device for injecting or sucking liquid into or from the liquid container 1 to adjust the liquid amount, wherein the liquid amount is adjusted to select a best result from a plurality of fitting planes at different liquid levels as a best approximation of a horizontal plane, as shown in FIG. 2; each liquid mixing device 2 comprises a small-caliber cylindrical cavity 201, a piston 202, a screw 203, a nut 204, a direct current motor 205, a driving wheel 206 and a driving belt 207, wherein the small-caliber cylindrical cavity 201 is made of metal materials, and one end face of the small-caliber cylindrical cavity 201 is circumferentially connected to the end face of the large-caliber cylindrical cavity 101 so that the large-caliber cylindrical cavity 101 and the small-caliber cylindrical cavity 201 are coaxial; a metal piston 202 is arranged in the small-diameter cylindrical cavity 201, the inner wall of the small-diameter cylindrical cavity and the outer wall of the piston 202 are both smooth and in close contact, one end, far away from the large-diameter cylindrical cavity 101, of the piston 202 is connected with a screw rod 203, the screw rod 203 extends out of the small-diameter cylindrical cavity 201 and then penetrates through a nut 204 and then penetrates through a metal grounding ring, the grounding ring is connected with the common ground, the nut 204 is tightly attached to the end face of the cavity, the screw rod 203 is respectively driven to perform pushing and pulling motions by the reverse and clockwise rotation of the nut 204, and accordingly electrolyte is respectively injected into and sucked out of the small-diameter cylindrical cavity 201 from the large-diameter cylindrical cavity 101, and accordingly the liquid level in the large-diameter cylindrical cavity 101 is controlled to rise and fall; the nut 204 is a hollow concentric cylinder, the side surface of the outer cylinder of the nut is provided with lines to increase the friction between the nut and the driving belt 207, the side surface of the inner cylinder of the nut is also provided with internal threads, and the internal threads are matched with the external threads of the screw 203, so that the rotation energy of the nut 204 drives the screw 203 to do linear motion, and the push-pull piston 202 does reciprocating motion in the small-caliber cylindrical cavity 201; the rotating force of the nut 204 is derived from a driving belt 207, the driving belt tightly connects the nut 204 and a driving wheel 206, and a bearing of a direct current motor 205 passes through the center of the driving wheel 206 and is coaxial with the driving wheel so as to drive the nut 204 to rotate; the dc motor 205 is driven by a driving circuit controlled by a single chip of the controller 4 and an instruction sent by the interface module 401.

The signal collector 3 has the function of collecting voltage information of the signal electrode array on the end face of the large-caliber cylindrical cavity 101, can calculate the coordinate of the intersection point of the liquid level and the large-caliber cylindrical cavity 101 based on the voltage information, and can calculate the horizontal plane fitting plane P of the large-caliber cylindrical cavity 101 according to the coordinate₁The normal vector value of (a); the signal collectors 3 are divided into a left end surface and a right end surface which are respectively arranged on the left end surface and the right end surface of the large-caliber cylindrical cavity 101, and each signal collector 3 comprises K collecting channels which are uniformly distributed on the inner side of the circumferential boundary of each end surface of the large-caliber cylindrical cavity 101; as shown in fig. 7, each acquisition channel includes a signal electrode and a pull-up resistor, one end of the pull-up resistor is connected to the signal electrode, the other end is connected to the power supply, and the kth signal electrode is connected to the single chip of the controller 4 and the kth bit of the data acquisition interface of the interface module 401. As shown in fig. 6, the signal electrodes are uniformly distributed inside the circumferential boundary of each end surface of the large-diameter cylindrical cavity 101 and close to the edgesThe volume of the boundary is as small as possible to increase the coordinate measurement precision, and the shape of the boundary is spherical to increase the contact surface with the saturated electrolyte; if the saturated electrolyte does not contact a certain signal electrode, the potential of a data interface bit connected with the signal electrode is pulled high, and the input data of the bit acquisition channel is equal to 1; if the saturated electrolyte contacts a certain signal electrode, the data interface bit is approximately grounded, and the input data of the data interface bit is equal to 0; the structure enables the signal collector 3 to accurately collect the coordinate information of the key point of the target plane.

The controller 4: the function is to control the process of each function of the system, to process and calculate the data input by the collection interface, and to output the needed information to the user. As shown in fig. 1, the system comprises a single chip microcomputer and interface module 401, a keyboard 402, an LCD display 403, a speaker 404, a communication module 405, an antenna 406 and an LED screen 407. The single chip microcomputer and interface module 401 is used for system control and data processing, and the keyboard 402, the LCD display 403 and the speaker 404 are used for a user to input related data parameters or report a calculation result and play prompt information to the user, for example, a normal vector of a measured plane in a local X ' Y ' Z ' coordinate system and an included angle between two measured planes can be displayed or broadcasted. The communication module 405 and the antenna 406 can realize wireless interconnection with a user mobile phone, the communication module 405 can adopt a bluetooth or WIFI module, and the controller 4 and the user mobile phone can be interconnected through a bluetooth or WIFI interface, so that a user can enter related data parameters through the mobile phone, and a mobile phone screen can synchronously display information required by the user with the LCD display 403 of the controller 4. The LED screen 407 is used to indicate to the user the position of the effective force application fulcrum of a tool such as a jack when leveling the plane under test.

And the direct current power supply is used for supplying power to the system, and is particularly used for supplying power to the direct current motor and the controller.

The electronic module box 6 is used for loading related electronic modules, a single chip microcomputer and interface module 401, a communication module 405 and a direct current power supply 5 are installed in the electronic module box, most of the upper surface of the electronic module box is used for laying an LED screen 407, a fixing groove 601 is arranged in the middle of the electronic module box for inserting a fixing plug-in 104 with a large-caliber cylindrical cavity, and the small part of the electronic module box is used for fixing the direct current motor 205 and placing a keyboard 402, an LCD display 403, a loudspeaker 404 and an antenna 406. The lower surface of the electronic module box body 6 is flat and smooth and is used for being attached to a target plane when the direction of the target plane is measured. In addition, the electronic module case 6 includes fastening accessories for fixing the liquid container, and includes a fixing groove 601 and springs 602, and when in use, the fixing plug 104 of the side wall of the large-diameter cylindrical cavity is inserted into the fixing groove 601, and then the circumference of the end face is fixed to four corners of the upper surface of the electronic module case by 4 springs.

The embodiment also provides a method for measuring a plane direction by means of a liquid section of a cylindrical cavity, and the method adopts the system for measuring the plane direction by means of the liquid section of the cylindrical cavity, and referring to fig. 8, the method specifically comprises the following steps:

step 1): attaching the lower surface of the electronic module box body to a measured plane, and rotating the electronic module box body to enable the compass pointer to be parallel to the cylindrical cavity bus marking line;

step 2): the controller reads the voltage information B of the left and right end face signal electrode arrays of the large-caliber cylindrical cavity_LAnd B_RExpressed as:

wherein b is_i＝0,

b_i＝1,

Or n +1 is more than or equal to i is more than or equal to K-1;

wherein b is_i＝0,

b_i＝1,

Or K +1 is more than or equal to i and less than or equal to K-1;

step 3): let the intersection point of the current liquid level boundary and the left and right end faces of the large-caliber cylindrical cavity be represented as A, B, C and D, and detect the index numbers n, m, j and k of the signal electrodes closest to A, B, C and D respectively;

step 4): calculating coordinates a, b, c and D of intersection points A, B, C and D of the boundary of the current liquid level and the left and right end faces of the large-caliber cylindrical cavity in an axial section coordinate system XYZ parallel to the measured plane, and respectively expressing the coordinates as formulas (3), (4), (5) and (6):

a＝[x₁,y₁,z₁], (3.a)

wherein

Wherein

K represents the number of signal electrodes configured on each end face of the large-caliber cylindrical cavity;

b＝[x₂,y₂,z₂], (4.a)

wherein

c＝[x₃,y₃,z₃], (5.a)

Wherein

d＝[x₄,y₄,z₄], (6.a)

Wherein

Step 5): judging whether the liquid level of the left end surface is lower than that of the right end surface, namely whether x is satisfied₁+x₂<x₃+x₄(ii) a If the motor is in the right side, the controller sends a liquid pumping instruction to the left motor, and if the motor is not in the right side, the controller sends a liquid pumping instruction to the right motor;

step 6): the controller reads the voltage information B of the left and right end face signal electrode arrays of the large-caliber cylindrical cavity_LAnd B_RThe step is consistent with the step 2);

step 7): detecting the index numbers n, m, j and k of the signal electrodes at the nearest positions of intersection points A, B, C and D of the boundary of the current liquid level and the left and right end faces of the large-diameter cylindrical cavity, wherein the step is consistent with the step 3);

step 8): judging whether the electrode index numbers n, m, j and k detected in the step 7) are the same as the index numbers detected last time, if not, executing the step 9), and if so, returning to the step 5);

step 9): calculating coordinates a, b, c and D of intersection points A, B, C and D of the left end surface and the right end surface of the large-diameter cylindrical cavity before the boundary of the current liquid level, wherein the step is consistent with the step 4);

step 10): calling a plane fitting function plan (a, b, c, d) and outputting a fitting plane P of the liquid level₁Is "s ← plan shaping (a, b, c, d), the algorithm is as follows:

let A, B, C and D go to plane P₁The sum of the squares of the distances of (a) is expressed as Err, so that Err takes the minimum value of P₁I.e., the plane of fit of the current liquid level, the equation can be expressed by equation (7):

z＝ux+vy+w, (7)

where the parameters u, v and w are combined into a vector s, which is expressed as follows:

s＝[u,v,w]^T, (8)

wherein symbol (·)^TRepresenting a transpose;

based on the literature: the formula provided by "Least squares fitting of data" pp3-4, Chapel Hill, NC: Magic Software, 2000, the plane fitting function exists as the following formula (9):

Hs＝g, (9)

order to

g＝[g₁,g₂,g₃]^T, (11)

Wherein

Based on equation (9), the calculation of s can employ equation (14):

s＝H^-1g, (14)

based on the matrix inversion formula, H^-1Can be calculated using equation (15):

wherein H^*An adjoint representing H, based on an adjoint formula, H^-1Element h 'of'_ij,

The calculation can employ equation (16):

where | H | represents a determinant of H, and | H | is calculated using the formula (17) based on a formula in which the determinant is expanded in a certain row:

|H|＝h₁₁(h₂₂h₃₃-h₃₂h₂₃)+h₁₂(h₃₁h₂₃-h₂₁h₃₃)+h₁₃(h₂₁h₃₂-h₃₁h₂₂) (17)

the elements of s obtained by the formulae (14) to (16) are as follows:

step 11): coordinates (x) based on current A, B, C and D₁,y₁,z₁)、(x₂,y₂,z₂)、(x₃,y₃,z₃) And (x)₄,y₄,z₄) And u, v, and w, computing A, B, C and D to the current fitting plane P₁Z is the sum of squares of the distances ux + vy + w, expressed as Err, and the current Err and the current s are stored in the storage region R together as [ u, v, w ═ w]^T。

Step 12): judging whether the current A, B, C and D coordinates meet min (x)₁,x₂,x₃,x₄)<0, if not, jumping to the step 5), and if so, entering the next step;

step 13): finding the smallest Err in the series Err stored in the storage region R, retaining u, v and w corresponding to the Err and stored together, deleting other u, v and w, and determining the fitting plane P determined by the current u, v and w₁And z is used as the best fit plane of the horizontal plane, namely ux + vy + w.

Step 14): best-fit plane P to the horizontal plane in XYZ coordinate system₁Normal vector n of₁Axial section parallel to the plane to be measured₂Normal vector n of₂And n₁At P₂Projection vector n of_pAnd (4) assignment is carried out:

normal vector n₁As shown in formula (19):

n₁＝[u,v,-1], (19)

wherein n is₁At P₂Is projected with a component n_pAs shown in formula (20):

n_p＝[0,v,-1], (20)

in the above axial section with n_pThe orthogonal vector γ is expressed by the formula (21):

γ＝[0,1,v], (21)

normal vector n of axial cross section parallel to measured plane₂Expressed as formula (22):

n₂＝[1,0,0], (22)

step 15): cross section of counter shaft P₂Upper and n_pThe orthogonal vector y is assigned, obviously y and n_pAnd n₂Are perpendicular, so its normalized expression can be represented by the formula (23):

step 16): computing a normal vector n₂To n₁The rotation angle θ of (c) is represented by the formula (24):

wherein arccos (·) represents the cosine inverse function;

step 17): assigning a conversion matrix T used for forming a new coordinate system X ' Y ' Z ' after the XYZ coordinate system rotates around gamma by an angle theta:

the literature: eric length, "matching for 3D Game Programming and Computer Graphics, Third Edition", pp74-75, Course Technology, part of center Learning,2012 provides a transformation matrix equation where a vector is rotated by a certain angle around an arbitrary axis in three-dimensional space, and the rotation angle θ of the coordinate system required by the present invention around an axis is equivalent to the reverse rotation of an arbitrary vector around the axis by the same angle, so that- θ is substituted into the above equation, as shown in equation (25. a):

wherein T is₁As shown in (25. b):

T₂as shown in (25. c):

substituting equations (25.b) and (25.c) into equation (25.a) yields the expansion of T, as shown in equation (25. d):

the correctness of the formula of T as shown in formula (25.d) can be verified by adopting the following documents: Yan-Bin Jia, "Rotation in the space," Com S477/577 Notes, theorem 1 of 6-7,2017, which states that the essential condition for the Rotation around the axis is that the transformation matrix used is an orthogonal matrix. After verification, the vector modulus of each row (column) of T shown in the formula (25.d) is 1 and the dot product operation result of each pair is 0, so T is an orthogonal matrix, and the above theorem is matched.

Step 18): calculating a normal vector n ' of the measured plane in an X ' Y ' Z ' coordinate system based on the conversion matrix T '₂I.e. normal vector n of the plane to be measured in X, Y and Z coordinate systems₂Conversion to expression n ' in X ' Y ' Z ' coordinate System '₂As shown in formula (26):

step 19): obtaining a target result: get any twoAn inclined plane P_jAnd P_kN ' in the X ' Y ' Z ' coordinate system '_jAnd n'_kThereby calculating P_jAnd P_kThe included angle (c) is shown as the formula (27):

where · represents the dot product operation, |, represents the operation taking the vector modulo.

Example two:

the present embodiment is based on the first embodiment, and adds the features and algorithms required for implementing the horizontal correction on the inclined plane. Referring to fig. 9, the present embodiment further provides a method for performing horizontal correction on an inclined plane, which is based on the principle of obtaining a projection component of a normal vector of a horizontal plane on a measured plane and an orthogonal vector of the projection vector on the measured plane, and correcting the inclined plane to be horizontal most quickly by rotating the inclined plane around an axis with the orthogonal vector. If the user needs to correct the measured plane to be horizontal, the user is prompted to place the pivot of a tool such as a jack on a straight line parallel to the projection vector and the orthogonal vector on the measured plane, and therefore correction efficiency is highest. When the inclined plane close to the lower surface of the electronic module box 6 needs to be corrected to be horizontal, on the basis of the method described in the first embodiment, this embodiment further includes, in step 15): acquiring a target result of correcting the position of the force application fulcrum for implementing horizontal correction, and displaying the result on an LED screen 407_pA parallel line segment and instructs the user to place the first jack J1 on a straight line parallel to the line segment on the measured plane, namely a green linear array L₂And the extension line thereof; the LED screen 407 displays a line segment parallel to γ and instructs the user to place another second jack J2 and third jack J3 on a straight line parallel to the line segment on the plane to be measured, i.e., a red linear array L₁And its extension line, is symmetrical to the position of the first jack J1, see fig. 9.

Example three:

referring to fig. 10 to 13, the present embodiment provides a system for measuring a line segment direction with general accuracy by means of a liquid section of a cylindrical cavity, the system further includes a pull ring based on the system of the first embodiment, the pull ring is divided into a left pull ring and a right pull ring, and the left pull ring and the right pull ring are respectively connected to ends of the left liquid dispenser and the right liquid dispenser far away from the liquid container; the hanging ring in fig. 10 is the content of the fourth embodiment, and the technical features related to the hanging ring and the falling object are not considered in this embodiment.

The embodiment provides a method for measuring the direction of a line segment with general precision by means of a cylindrical cavity liquid section, which adopts the system for measuring the direction of the line segment by means of the cylindrical cavity liquid section to measure the direction of a connecting line of any two points in a local coordinate system. The difference from the method for measuring the plane direction in the first embodiment is that the present embodiment is used for measuring the direction of the line segment between two points, so in step 1), the left and right pull rings are connected to the two points to be measured; steps 2) to 17) in the present embodiment are the same as the steps with the same serial number in the first embodiment; step 18) and the subsequent steps thereof are different from the corresponding steps of the first embodiment, and the step 18) and the subsequent steps of the embodiment specifically include:

step 18): as can be seen from the observation of FIG. 2 and FIG. 10, two points P in space are measured in FIG. 10₁P₂Since the vector of the connecting line coincides with the Z-axis direction of the X, Y and Z coordinate system in fig. 2, two points P in space to be measured are based on the transformation matrix T shown by the expression (25.d)₁P₂The vector OZ of the connecting line in the X Y Z coordinate system is converted into OZ of the X "Y" Z coordinate system in FIG. 11_X”Y”Z”The result is shown in formula (28):

step 19): rotating the X 'Y' Z 'coordinate system by an angle around the OX' right hand

Wherein

The declination angle which represents the anticlockwise deviation of the horizontal projection of the axis of the large cylindrical cavity from the north direction is indicated by a compass, and the coordinate system X ' Y ' Z ' is obtained, and the OZ in the X ' Y ' Z coordinate system is obtained_X”Y”Z”Can be expressed as OZ in an X ' Y ' Z ' coordinate system_X’Y’Z’As shown in formula (29):

step 20): to be OZ_X′Y′Z′As a line segment S_jVector in X 'Y' Z 'coordinate system represents formula s'_j

Step 21): any two line segments S can be obtained based on the steps 1) to 20)_jAnd S_kVector in X 'Y' Z 'coordinate system represents formula s'_jAnd s'_kSo that S can be calculated_jAnd S_kThe angle of (c) is as follows:

where · represents the dot product operation, |, represents the operation taking the vector modulo.

Example four:

with reference to fig. 10 and 14, the present embodiment provides a system for measuring the direction of a line segment with high accuracy by means of a liquid section of a cylindrical cavity, and the system further includes the following technical features on the basis of the system in the third embodiment: k hanging rings used for hanging a pendant are further arranged on the outer wall of the large-diameter cylindrical cavity in the circumferential direction, and each hanging ring is located at the midpoint of the bus marking; the weight of the falling object is greater than the sum of the weights of all objects except the large-diameter cylindrical cavity and the objects contained in the large-diameter cylindrical cavity.

The embodiment provides a method for measuring a line segment direction with higher precision by means of a liquid section of a cylindrical cavity, which is different from the method for measuring the line segment direction in the third embodiment in that a pendant is hung on a 0 # hanging ring of a large-diameter cylindrical cavity through a hanging wire to perform measurement once (at the moment, the top view of the large-diameter cylindrical cavity is shown in fig. 11), and then subsequent multiple measurements are required, and the method comprises the following specific operation steps: the hanging wire is disconnected from the hook, the large-diameter cylindrical cavity is rotated around the shaft, the pendant is hung on the hanging ring with the next serial number, the next measurement is carried out, repeated measurement is carried out by analogy until the serial number of the hanging ring traverses, and finally the arithmetic mean value is taken for all the measurement results; the purpose of taking multiple measurements is to further improve the coordinate measurement precision, and the more the measurement times are, the higher the precision is, specifically:

steps 1) to 19) are the same as the steps with the same sequence numbers in the third embodiment; step 20) and the subsequent steps are:

step 20): set of vector quantities P₁P₂And (4) assignment is carried out: p₁P₂←P₁P₂∪OZ′；

Step 21): if the hanging ring traverses, entering the next step, otherwise hanging the pendant on the hanging ring with the next sequence number, and skipping to the step 2);

step 22): set of vector quantities P₁P₂Taking the mean value of all vectors as a line segment S_jVector in X 'Y' Z 'coordinate system represents formula s'_j

Step 23): any two line segments S can be obtained based on the steps 1) to 22)_jAnd S_kVector in X 'Y' Z 'coordinate system represents formula s'_jAnd s'_kSo that S can be calculated_jAnd S_kThe angle of (c) is as follows:

where · represents the dot product operation, |, represents the operation taking the vector modulo.

The parts not involved in the present invention are the same as or implemented using the prior art.

The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims (10)

1. The system for measuring the plane direction by means of the liquid section of the cylindrical cavity is characterized by comprising a liquid container, a liquid adjusting device, a signal collector, a controller, a direct-current power supply, an electronic module box body and a fastener;

the liquid container comprises a large-caliber cylindrical cavity, wherein the side surface of the large-caliber cylindrical cavity is smooth and completely transparent and is engraved with a bus marking, the inner side of the circumference of the end surface is also provided with 4 water injection vent valves for replenishing or replacing electrolyte and maintaining the balance of internal and external air pressure when the liquid level is adjusted, saturated electrolyte is filled in the large-caliber cylindrical cavity, a compass floats on the saturated electrolyte level, the compass surface is engraved with a light mark, and the left end surface and the right end surface of the large-caliber cylindrical cavity are respectively connected with a liquid regulator;

the liquid adjusting device is divided into a left liquid adjusting device and a right liquid adjusting device and is used for injecting or sucking liquid into the liquid container to adjust the liquid amount; each liquid transfer device comprises a small-caliber cylindrical cavity, a piston, a screw rod, a nut, a direct current motor, a driving wheel and a driving belt, wherein one end face of the small-caliber cylindrical cavity is connected to the end face of the large-caliber cylindrical cavity, so that the large-caliber cylindrical cavity and the small-caliber cylindrical cavity are coaxial; a piston is arranged in the small-diameter cylindrical cavity, one end, far away from the large-diameter cylindrical cavity, of the piston is connected with a screw rod, the screw rod penetrates through a nut after extending out of the small-diameter cylindrical cavity and then penetrates through a metal grounding ring, the grounding ring is connected with a common ground, the nut is tightly attached to the end face of the small-diameter cylindrical cavity, and the internal thread of the nut is matched with the external thread of the screw rod so that the rotation energy of the nut drives the screw rod to do linear motion, and the push-pull piston does reciprocating motion in the small-diameter cylindrical cavity; the driving belt connects the nut with the driving wheel, and the DC motor bearing passes through the center of the driving wheel and is coaxial with the driving wheel so as to drive the nut to rotate; the direct current motor is controlled by a command sent by the controller;

the signal collectors are divided into a left end surface and a right end surface and are respectively arranged on the left end surface and the right end surface of the large-caliber cylindrical cavity, each signal collector comprises K collecting channels, each collecting channel comprises a signal electrode, a pull-up resistor and a connecting wire, the signal electrode is led to one end of the pull-up resistor through the connecting wire, and the other end of the pull-up resistor is connected with a direct-current power supply; the signal electrodes are uniformly distributed on the inner side of the circumferential boundary of each end surface of the large-caliber cylindrical cavity to form a signal electrode array; if the saturated electrolyte does not contact a certain signal electrode, the potential of a data interface bit connected with the signal electrode is pulled high, and at the moment, the input data of the data acquisition channel is equal to 1 for a single chip computer and an interface module in the controller; if the saturated electrolyte contacts a certain signal electrode, the input data of the position acquisition channel is equal to 0;

the controller is used for controlling the liquid regulator to regulate the liquid level, collecting voltage information of the signal electrode array in the signal collector under different liquid levels, and outputting a direction measurement value of the measured plane in a local coordinate system to a user after calculation and processing;

the direct current power supply is used for supplying power to the system;

the electronic module box is used for loading the controller, the direct-current power supply and the direct-current motor; the direct current motor is arranged on the upper surface of the electronic module box body, and the lower surface of the electronic module box body is flat and smooth and is used for tightly adhering to a target plane when the direction of the target plane is measured;

the fastener is used for fixing the liquid container and comprises a fixed plug-in unit arranged on the side wall of the large-caliber cylindrical cavity, a fixed groove arranged on the upper surface of the electronic module box body and 4 springs, when the fastener is used, the fixed plug-in unit on the side wall of the large-caliber cylindrical cavity is inserted into the fixed groove, and then the circumference of the end face is fixed at four corners of the upper surface of the electronic module box body through the 4 springs.

2. The system for measuring the orientation of a plane by means of a liquid section of a cylindrical cavity according to claim 1, wherein: the controller comprises a singlechip, an interface module, a keyboard, an LCD display, a loudspeaker, a communication module, an antenna and an LED screen; the single chip microcomputer and the interface module are used for system control and data processing, the keyboard, the LCD display and the loudspeaker are used for a user to input related data parameters or report a calculation result and play prompt information to the user, the communication module and the antenna can realize wireless interconnection with a mobile phone of the user, so that the user can input the related data parameters through the mobile phone, and a screen of the mobile phone of the user can synchronously display the related information with the LCD display; the LED screen is used for indicating the position of an effective force application fulcrum of the jack tool to a user when the horizontal correction is carried out on the measured plane;

the single chip microcomputer and the interface module are arranged in the electronic module box body, the LED screen is laid in the middle of the upper surface of the electronic module box body, and the keyboard, the LCD display, the loudspeaker and the antenna are arranged on the edge of the upper surface of the electronic module box body.

3. A method for measuring a plane direction by means of a liquid cross-section of a cylindrical chamber, using the system for measuring a plane direction by means of a liquid cross-section of a cylindrical chamber according to claim 2, characterized in that the method comprises: the lower surface of the electronic module box body is tightly attached to a measured plane, and the electronic module box body is rotated to enable the compass pointer to be parallel to the large-caliber cylindrical cavity bus marking line; the controller sends a starting liquid pumping instruction to the direct current motor for multiple times, voltage information of the left end surface signal electrode array and the right end surface signal electrode array of the large-diameter cylindrical cavity is collected after liquid pumping is carried out each time, coordinates of the intersection point of the current liquid level and the large-diameter cylindrical cavity are calculated based on the voltage information, and a plane fitting function is called through the intersection point coordinates to obtain a liquid level fitting plane P₁Calculating the intersection point and P₁The sum of the squares of the distances Err, and P₁When the liquid is reduced to half of the full capacity, the controller sends a liquid-pumping stopping instruction to the direct current motor, and only the P corresponding to the minimum one in the stored series Err is stored₁And (3) reserving a parameter s, and calculating a best fit plane P of a horizontal plane in an X-Y-Z coordinate system which takes the circle center of the left end face of the large-diameter cylindrical cavity as an origin O, the connecting line of the O and the No. 0 signal electrode on the end face contact as an X axis and the central axis of the large-diameter cylindrical cavity as a Z axis on the basis of the parameter₁Normal vector n of₁Axial section P₂Normal vector n of₂、n₁At P₂Projection vector n of_pAnd P₂Upper and n_pOrthogonal vector γ, according to n₁And n₂Calculating n₂To n₁The rotation angle theta of (b) is formed by moving up around the rotation angle theta of gamma in the X-Y-Z coordinate system by P₁The straight line of the crossed line segment with the left end surface of the large-caliber cylindrical cavity is a Y ' axis, the midpoint of the crossed line segment is an origin O ', the Z ' axis points to an X ' Y ' Z ' coordinate system of the true north, and the X ' Y ' Z coordinate system is converted into an X ' Y ' Z ' coordinate systemAnd the matrix T is assigned, and then the direction metric value of the measured plane in the X ' Y ' Z ' coordinate system is calculated based on the transformation matrix T, and is displayed and broadcasted to the user through an LCD display, a loudspeaker and a communication module.

4. The method for measuring the plane direction by means of the liquid section of the cylindrical cavity according to claim 3, characterized by comprising the following steps:

step 1): attaching the lower surface of the electronic module box body to a measured plane, and rotating the electronic module box body to enable the compass pointer to be parallel to the cylindrical cavity bus marking line;

step 2): the controller reads the voltage information B of the left and right end face signal electrode arrays of the large-caliber cylindrical cavity_LAnd B_RExpressed as:

wherein

Or n +1 is more than or equal to i is more than or equal to K-1;

wherein

Or K +1 is more than or equal to i and less than or equal to K-1;

step 3): let the intersection point of the current liquid level boundary and the left and right end faces of the large-caliber cylindrical cavity be represented as A, B, C and D, and detect the index numbers n, m, j and k of the signal electrodes closest to A, B, C and D respectively;

step 4): calculating coordinates a, b, c and D of intersection points A, B, C and D of the current liquid level boundary and the left end surface and the right end surface of the large-caliber cylindrical cavity in an XYZ coordinate system, and respectively expressing the coordinates as follows:

a＝[x₁，y₁，z₁]，

wherein

R represents the radius of the large-caliber cylindrical cavity;

wherein

K represents the number of signal electrodes configured on each end face of the large-caliber cylindrical cavity;

b＝[x₂，y₂，z₂]，

wherein

c＝[x₃，y₃，z₃]，

Wherein

d＝[x₄，y₄，z₄]，

Wherein

Step 5): judging whether the liquid level of the left end surface is lower than that of the right end surface, namely whether x is satisfied₁+x₂＜x₃+x₄(ii) a If the motor is in the right side, the controller sends a liquid pumping instruction to the left motor, and if the motor is not in the right side, the controller sends a liquid pumping instruction to the right motor;

step 6): the controller reads the large-caliber circleVoltage information B of left and right end face signal electrode arrays of column cavity_LAnd B_RThe step is consistent with the step 2);

step 7): detecting the index numbers n, m, j and k of the signal electrodes at the nearest positions of intersection points A, B, C and D of the boundary of the current liquid level and the left and right end faces of the large-diameter cylindrical cavity, wherein the step is consistent with the step 3);

step 8): judging whether the electrode index numbers n, m, j and k detected in the step 7) are the same as the index numbers detected last time, if not, executing the step 9), and if so, returning to the step 5);

step 9): calculating coordinates a, b, c and D of intersection points A, B, C and D of the boundary of the current liquid level and the left end surface and the right end surface of the large-diameter cylindrical cavity, wherein the step is consistent with the step 4);

step 10): calling a plane fitting function plan (a, b, c, d) and outputting a fitting plane P of the liquid level₁Is "s ← plan shaping (a, b, c, d), the algorithm is as follows:

let A, B, C and D go to plane P₁The sum of the squares of the distances of (a) is expressed as Err, so that Err takes the minimum value of P₁I.e. the fitted plane of the current liquid level, the equation of which is expressed as:

z＝ux+vy+w，

where the parameters u, v and w are combined into a vector s, which is expressed as follows:

s＝[u，v，w]^T，

wherein symbol (·)^TExpressing the transpose, the values of u, v and w are obtained using the following calculation:

wherein, h'_ijI is 1, 2, 3, j is 1, 2, 3, and is obtained by the following calculation formula:

wherein h is_ijI is 1, 2, 3, j is 1, 2, 3, and is obtained by the following calculation formula:

symbol det (H) denotes a determinant of the square matrix H, which is expressed as follows:

g_ii is 1, 2, 3, which is obtained by the following calculation formula:

step 11): coordinates (x) based on current A, B, C and D₁，y₁，z₁)、(x₂，y₂，z₂)、(x₃，y₃，z₃) And (x)₄，y₄，z₄) And u, v, and w, computing A, B, C and D to the current fitting plane P₁: z is the sum of squares of the distances ux + vy + w, expressed as Err, and the current Err and the current s are stored in the storage region R together as [ u, v, w ═]^T；

Step 12): judging whether the current A, B, C and D coordinates meet min (x)₁，x₂，x₃，x₄) If not, skipping to the step 5), and if so, entering the next step;

step 13): finding the smallest Err in the series Err stored in the storage region R, retaining u, v and w corresponding to the Err and stored together, deleting other u, v and w, and determining the fitting plane P determined by the current u, v and w₁: z is regarded as the best fitting plane of the horizontal plane, and the sum of the z is ux and vy and w is regarded as the best fitting plane of the horizontal plane;

step 14): best-fit plane P to the horizontal plane in XYZ coordinate system₁Normal vector n of₁Parallel toAxial section P of the plane to be measured₂Normal vector n of₂And n₁At P₂Projection vector n of_pAnd (4) assignment is carried out:

n₁＝[u，v，-1]，

n₂＝[1，0，0]，

n_p＝[0，v，-1]，

step 15): on the cross section of the axis n_pThe orthogonal vector y is assigned, obviously y and n_pAnd n₂Are all perpendicular, and therefore their normalized expression is as follows:

step 16): computing a normal vector n₂To n₁The rotation angle θ of (a) is represented by the following formula:

wherein arccos (·) represents the cosine inverse function;

step 17): assigning a conversion matrix T used for forming a new coordinate system X ' Y ' Z ' after the XYZ coordinate system rotates around gamma by an angle theta:

the rotation angle θ of the coordinate system around a certain axis is equivalent to the reverse rotation of an arbitrary vector around the axis by the same angle, so that- θ is substituted into the expression of the transformation matrix T in which the vector rotates around the axis, and the result is as follows:

wherein T is₁As shown in the following formula:

T₂as followsIs represented by the formula:

will be above T₁And T₂Substituting the expression into the expression of T, and expanding to obtain a calculation formula of T, which is shown as the following formula:

step 18): based on the above conversion matrix T, a normal vector n ' of the measured plane in the X ' Y ' Z ' coordinate system is calculated '₂I.e. normal vector n of the measured plane in XYZ coordinate system₂Conversion to expression n ' in X ' Y ' Z ' coordinate System '₂As shown in the following formula:

step 19): obtaining a target result: to obtain any two inclined planes P_jAnd P_kN ' in the X ' Y ' Z ' coordinate system '_jAnd n'_kThereby calculating P_jAnd P_kThe angle of (c) is as follows:

where · represents the dot product operation, |, represents the operation taking the vector modulo.

5. Method for measuring the orientation of a plane by means of a liquid section of a cylindrical cavity according to claim 4, characterized in that: further comprising the steps of:

acquiring a target result of correcting the position of the force application fulcrum for implementing horizontal correction: color display for LED screen laid on upper surface of electronic module boxIs shown with n_pA parallel line segment and indicates the user to place another first jack force application point on the measured plane and n_pOn parallel straight lines; and displaying a line segment parallel to the gamma by using another color, and indicating a user to place the force application points of the second jack and the third jack which are additionally arranged on a straight line parallel to the gamma on the measured plane and symmetrical to the position of the force application point of the first jack.

6. System for measuring the direction of a line segment by means of the liquid section of a cylindrical cavity, characterized in that: the device comprises a liquid container, a liquid adjusting device, a signal collector, a controller, a direct current power supply, an electronic module box body, a fastener and a pull ring;

the liquid container comprises a large-caliber cylindrical cavity, wherein the side surface of the large-caliber cylindrical cavity is smooth and completely transparent and is engraved with a bus marking, the inner side of the circumference of the end surface is also provided with 4 water injection vent valves for replenishing or replacing electrolyte and maintaining the balance of internal and external air pressure when the liquid level is adjusted, saturated electrolyte is filled in the large-caliber cylindrical cavity, a compass floats on the saturated electrolyte level, the compass surface is engraved with a light mark, and the left end surface and the right end surface of the large-caliber cylindrical cavity are respectively connected with a liquid regulator;

the liquid adjusting device is divided into a left liquid adjusting device and a right liquid adjusting device and is used for injecting or sucking liquid into the liquid container to adjust the liquid amount; each liquid transfer device comprises a small-caliber cylindrical cavity, a piston, a screw rod, a nut, a direct current motor, a driving wheel and a driving belt, wherein one end face of the small-caliber cylindrical cavity is connected to the end face of the large-caliber cylindrical cavity, so that the large-caliber cylindrical cavity and the small-caliber cylindrical cavity are coaxial; a piston is arranged in the small-diameter cylindrical cavity, one end, far away from the large-diameter cylindrical cavity, of the piston is connected with a screw rod, the screw rod penetrates through a nut after extending out of the small-diameter cylindrical cavity and then penetrates through a metal grounding ring, the grounding ring is connected with a common ground, the nut is tightly attached to the end face of the small-diameter cylindrical cavity, and the internal thread of the nut is matched with the external thread of the screw rod so that the rotation energy of the nut drives the screw rod to do linear motion, and the push-pull piston does reciprocating motion in the small-diameter cylindrical cavity; the driving belt connects the nut with the driving wheel, and the DC motor bearing passes through the center of the driving wheel and is coaxial with the driving wheel so as to drive the nut to rotate; the direct current motor is controlled by a command sent by the controller;

the signal collectors are divided into a left end surface and a right end surface and are respectively arranged on the left end surface and the right end surface of the large-caliber cylindrical cavity, each signal collector comprises K collecting channels, each collecting channel comprises a signal electrode, a pull-up resistor and a connecting wire, the signal electrode is led to one end of the pull-up resistor through the connecting wire, and the other end of the pull-up resistor is connected with a direct-current power supply; the signal electrodes are uniformly distributed on the inner side of the circumferential boundary of each end surface of the large-caliber cylindrical cavity to form a signal electrode array; if the saturated electrolyte does not contact a certain signal electrode, the potential of a data interface bit connected with the signal electrode is pulled high, and at the moment, the input data of the data acquisition channel is equal to 1 for a single chip computer and an interface module in the controller; if the saturated electrolyte contacts a certain signal electrode, the input data of the position acquisition channel is equal to 0;

the controller is used for controlling the liquid regulator to regulate the liquid level, collecting voltage information of a signal electrode array in the signal collector under different liquid levels, and outputting a direction measurement value of a measured line segment in a local coordinate system to a user after calculation and processing;

the direct current power supply is used for supplying power to the system;

the electronic module box is used for loading the controller, the direct-current power supply and the direct-current motor; the direct current motor is arranged on the upper surface of the electronic module box body, and the lower surface of the electronic module box body is flat and smooth and is used for tightly adhering to a target plane when the direction of the target plane is measured;

the fastener is used for fixing the liquid container and comprises a fixed plug-in unit arranged on the side wall of the large-caliber cylindrical cavity, a fixed groove arranged on the upper surface of the electronic module box body and 4 springs, when the fastener is used, the fixed plug-in unit on the side wall of the large-caliber cylindrical cavity is inserted into the fixed groove, and then the circumference of the end surface is fixed to four corners of the upper surface of the electronic module box body by the 4 springs;

the pull ring is divided into a left pull ring and a right pull ring, and is respectively connected with one end of the left liquid adjusting device and one end of the right liquid adjusting device, which are far away from the liquid container.

7. The system for measuring the direction of a line segment by means of a liquid section of a cylindrical cavity according to claim 6, characterized in that: the system also comprises hanging rings which are distributed on the periphery of the outer wall of the cylindrical cavity and used for hanging a pendant to enable the large-diameter cylindrical cavity to rotate around the shaft; k hanging rings for hanging a pendant are arranged on the outer wall of the large-diameter cylindrical cavity in the circumferential direction, and each hanging ring is located at the midpoint of the bus marking; the weight of the falling object is greater than the sum of the weights of all objects except the large-diameter cylindrical cavity and the objects contained in the large-diameter cylindrical cavity.

8. The method for measuring the direction of a line segment by means of a liquid cross section of a cylindrical cavity, which adopts the system for measuring the direction of a line segment by means of a liquid cross section of a cylindrical cavity as claimed in claim 6, is characterized in that the method for measuring the direction of a line segment is a method for measuring a line segment between two points, and the method comprises the following steps: the left pull ring and the right pull ring are connected to two points to be measured through an additional rope; the controller sends a starting liquid pumping instruction to the motor for multiple times, acquires voltage information of the left and right end surface signal electrode arrays of the large-diameter cylindrical cavity after liquid pumping each time, calculates coordinates of an intersection point of the current liquid level and the large-diameter cylindrical cavity based on the voltage information, and calls a plane fitting function plan fitting through the intersection point coordinates to acquire a liquid level fitting plane P₁Is equal to [ u, v, w ═]^TCalculating the above intersection point and P₁The controller issues a stop drawing command to the motor when the liquid is reduced to half the full capacity, only s corresponding to the smallest of the stored series Err is reserved, and a plane P best fit to the horizontal plane in an XYZ coordinate system of the axial section of the large-caliber cylindrical cavity is calculated based on the parameter vector₁Normal vector n of₁Axial section P₂Normal vector n of₂、n₁At P₂Projection vector n of_pAnd P₂Upper and n_pOrthogonal vector γ, according to n₁And n₂Calculating n₂To n₁The rotation angle theta of the X-axis and the Y-axis is set to be equal to the rotation angle theta of the X-axis and the Y-axis, and the conversion matrix T is used to convert the vector OZ of the connection line of the two points in the space into the expression OZ of the X-axis and the Y-axis_X″Y”Z”Then the X "Y" Z "coordinateIs tied around O 'X' right hand rotation angle

Wherein

The deflection angle of the horizontal projection of the axis of the large cylindrical cavity deviating from the north counterclockwise is indicated by a compass to obtain an X 'Y' Z 'coordinate system, and the direction measurement value OZ of the connecting line of the measured point in the X' Y 'Z' coordinate system is calculated_X′Y′Z′And displayed and broadcast to the user.

9. The method for measuring the direction of a line segment by means of a liquid section of a cylindrical cavity according to claim 8, characterized in that: the method comprises the following specific steps:

step 1): connecting the left pull ring and the right pull ring to two points to be measured through stretching;

step 2): the controller reads the voltage information B of the left and right end face signal electrode arrays of the large-caliber cylindrical cavity_LAnd B_RExpressed as:

wherein

Or n +1 is more than or equal to i is more than or equal to K-1;

wherein

Or K +1 is more than or equal to i and less than or equal to K-1;

step 3): let the intersection point of the current liquid level boundary and the left and right end faces of the large-caliber cylindrical cavity be represented as A, B, C and D, and detect the index numbers n, m, j and k of the signal electrodes closest to A, B, C and D respectively;

step 4): calculating coordinates a, b, c and D of intersection points A, B, C and D of the current liquid level boundary and the left end surface and the right end surface of the large-caliber cylindrical cavity in an XYZ coordinate system, and respectively expressing the coordinates as follows:

a＝[x₁，y₁，z₁]，

wherein

R represents the radius of the large-caliber cylindrical cavity;

wherein

K represents the number of signal electrodes configured on each end face of the large-caliber cylindrical cavity;

b＝[x₂，y₂，z₂]，

wherein

c＝[x₃，y₃，z₃]，

Wherein

d＝[x₄，y₄，z₄]，

Wherein

Step 5): judging left end face liquidWhether the level is lower than the right end surface liquid level, i.e. whether x is satisfied₁+x₂＜x₃+x₄(ii) a If the motor is in the right side, the controller sends a liquid pumping instruction to the left motor, and if the motor is not in the right side, the controller sends a liquid pumping instruction to the right motor;

step 6): the controller reads the voltage information B of the left and right end face signal electrode arrays of the large-caliber cylindrical cavity_LAnd B_RThe step is consistent with the step 2);

step 7): detecting the index numbers n, m, j and k of the signal electrodes at the nearest positions of intersection points A, B, C and D of the boundary of the current liquid level and the left and right end faces of the large-diameter cylindrical cavity, wherein the step is consistent with the step 3);

step 8): judging whether the electrode index numbers n, m, j and k detected in the step 7) are the same as the index numbers detected last time, if not, executing the step 9), and if so, returning to the step 5);

step 9): calculating coordinates a, b, c and D of intersection points A, B, C and D of the left end surface and the right end surface of the large-diameter cylindrical cavity before the boundary of the current liquid level, wherein the step is consistent with the step 4);

step 10): calling a plane fitting function plan (a, b, c, d) and outputting a fitting plane P of the liquid level₁Is "s ← plan shaping (a, b, c, d), the algorithm is as follows:

let A, B, C and D go to plane P₁The sum of the squares of the distances of (a) is expressed as Err, so that Err takes the minimum value of P₁I.e. the fitted plane of the current liquid level, the equation of which is expressed as:

z＝ux+vy+w，

where the parameters u, v and w are combined into a vector s, which is expressed as follows:

s＝[u，v，w]^T，

wherein symbol (·)^TExpressing the transpose, the values of u, v and w are obtained using the following calculation:

wherein, h'_ij，i＝1，2，3，j is 1, 2, 3, and is obtained by the following calculation formula:

wherein h is_ijI is 1, 2, 3, j is 1, 2, 3, and is obtained by the following calculation formula:

symbol det (H) denotes a determinant of the square matrix H, which is expressed as follows:

g_ii is 1, 2, 3, which is obtained by the following calculation formula:

step 11): coordinates (x) based on current A, B, C and D₁，y₁，z₁)、(x₂，y₂，z₂)、(x₃，y₃，z₃) And (x)₄，y₄，z₄) And u, v, and w, computing A, B, C and D to the current fitted plane P1: z is the sum of squares of the distances ux + vy + w, expressed as Err, and the current Err and the current s are stored in the storage region R together as [ u, v, w ═]^T；

Step 12): judging whether the current A, B, C and D coordinates meet min (x)₁，x₂，x₃，x₄) If not, skipping to the step 5), and if so, entering the next step;

step 13): the smallest Err is found out of the series of Errs stored in the storage region R, u, v, and w stored together with the Err are retained, and others areu, v and w are deleted, and the fitting plane P determined by the current u, v and w is used₁: z is regarded as the best fitting plane of the horizontal plane, and the sum of the z is ux and vy and w is regarded as the best fitting plane of the horizontal plane;

step 14): best-fit plane P to the horizontal plane in XYZ coordinate system₁Normal vector n of₁Axial section parallel to the plane to be measured₂Normal vector n of₂And n₁At P₂Projection vector n of_pAnd (4) assignment is carried out:

n₁＝[u，v，-1]，

n₂＝[1，0，0]，

n_p＝[0，v，-1]，

step 15): on the cross section of the axis n_pThe orthogonal vector y is assigned, obviously y and n_1pAnd n₂Are all perpendicular, and therefore their normalized expression is as follows:

step 16): computing a normal vector n₂To n₁The rotation angle θ of (a) is represented by the following formula:

wherein arccos (·) represents the cosine inverse function;

step 17): assigning a conversion matrix T used for forming a new coordinate system X ' Y ' Z ' after the XYZ coordinate system rotates around gamma by an angle theta:

the rotation angle θ of the coordinate system around a certain axis is equivalent to the reverse rotation of an arbitrary vector around the axis by the same angle, so that- θ is substituted into the expression of the transformation matrix T in which the vector rotates around the axis, and the result is as follows:

wherein T is₁As shown in the following formula:

T₂as shown in the following formula:

will be above T₁And T₂Substituting the expression into the expression of T, and expanding to obtain a calculation formula of T, which is shown as the following formula:

step 18): based on the transformation matrix T, converting the vector OZ of the connecting line of two points in the measured space in the XYZ coordinate system into the expression OZ of the X ' Y ' Z ' coordinate system_X”Y”Z”As shown in the following formula:

step 19): rotating the X 'Y' Z 'coordinate system by an angle around the OX' right hand

Wherein

The declination angle which represents the anticlockwise deviation of the horizontal projection of the axis of the large cylindrical cavity from the north direction is indicated by a compass, and the coordinate system X ' Y ' Z ' is obtained, and the OZ in the X ' Y ' Z coordinate system is obtained_X”Y”Z”Can be expressed as OZ in an X ' Y ' Z ' coordinate system_X′Y′Z′As shown in the following formula:

step 20): to be OZ_x′Y′Z′As a line segment S_jVector in X 'Y' Z 'coordinate system represents formula s'_j

Step 21): any two line segments S can be obtained based on the steps 1) to 20)_jAnd S_kVector in X 'Y' Z 'coordinate system represents formula s'_jAnd s'_kSo that S can be calculated_jAnd S_kThe angle of (c) is as follows:

where · represents the dot product operation, |, represents the operation taking the vector modulo.

10. The method for measuring the direction of a line segment by means of a liquid section of a cylindrical cavity according to claim 9, characterized in that: further comprising the steps of: k hanging rings for hanging a pendant are arranged on the outer wall of the large-diameter cylindrical cavity in the circumferential direction, and each hanging ring is located at the midpoint of the bus marking; the weight of the falling object is greater than the sum of the weights of all objects except the large-diameter cylindrical cavity and the objects contained in the large-diameter cylindrical cavity; and hanging a pendant on the 0 th hanging ring of the large-diameter cylindrical cavity through a hanging wire, carrying out measurement for one time, then, releasing the hanging wire from the hook, rotating the large-diameter cylindrical cavity around a shaft, hanging the pendant on the hanging ring with the next serial number, carrying out measurement for the next time, repeating the measurement until the serial number of the hanging ring traverses to reduce the measurement error, and finally, taking the arithmetic mean value of all measurement results to serve as the measurement result of the line segment direction or the included angle reported to a user.

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